CN107807641A - method for mobile robot obstacle avoidance - Google Patents
method for mobile robot obstacle avoidance Download PDFInfo
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- CN107807641A CN107807641A CN201711006126.XA CN201711006126A CN107807641A CN 107807641 A CN107807641 A CN 107807641A CN 201711006126 A CN201711006126 A CN 201711006126A CN 107807641 A CN107807641 A CN 107807641A
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- 230000004888 barrier function Effects 0.000 claims abstract description 48
- 238000010276 construction Methods 0.000 claims abstract description 12
- 230000035939 shock Effects 0.000 claims description 26
- 238000010586 diagram Methods 0.000 description 10
- 238000003860 storage Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000001788 irregular Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 239000011521 glass Substances 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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Abstract
The purpose of the application is to provide a kind of method and apparatus for Mobile Robot Obstacle Avoidance.Compared with prior art, the application is by determining that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided, the current point of impingement and history point of impingement construction virtual obstacles are then based on, so that the mobile robot avoids the invisible barrier of the laser.In this way, when mobile robot collides the invisible barrier of laser, the invisible barrier of the laser can be avoided, so as to complete corresponding functional task, so that mobile robot completes more rational global mission planning.
Description
Technical field
The application is related to field of computer technology, more particularly to a kind of technology for Mobile Robot Obstacle Avoidance.
Background technology
With the continuous development of scientific technology, what robot occurred in life has become very universal, particularly sweeps
Floor-washing robot, huge numbers of families are come into, helped people to complete the task that family sweeps.Each task is completed in robot
While, along with the varied of environment, robot also just faces such or such challenge, avoidance and get rid of poverty namely its
Complete the guarantee of assigned tasks.In the prior art, the avoidance of robot perceives surrounding ring mainly using ultrasound or laser sensor
The complaint message in border, carry out local paths planning and carry out avoidance motion, but due to the invisible barrier of laser, such as glass be present
Deng laser is with regard to None- identified, so not having good barrier-avoiding method for the invisible barrier of laser.
The content of the invention
The purpose of the application is to provide a kind of method and apparatus for Mobile Robot Obstacle Avoidance.
According to the one side of the application, there is provided a kind of method for Mobile Robot Obstacle Avoidance, wherein, this method bag
Include：
It is determined that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided；
Based on the current point of impingement and history point of impingement construction virtual obstacles so that the mobile robot avoid it is described
The invisible barrier of laser.
Further, wherein, the current point of impingement and history point of impingement construction virtual obstacles of being based on includes：
Current shock auxiliary segment based on the current point of impingement addition preset length；
Auxiliary segment is hit based on the current shock auxiliary segment and history, constructs virtual obstacles.
Further, wherein, described to hit auxiliary segment based on the current shock auxiliary segment and history, construction is empty
Intending barrier includes：
Based on the current grid point for hitting auxiliary segment, grid point and each grid point being determined with default resolution ratio
Coordinate；
The grid point coordinates is added into candidate point dictionary, wherein, the candidate point dictionary includes being based on the history
Hit the grid point coordinates of auxiliary segment addition；
Based on the grid point coordinates in the candidate point dictionary, virtual obstacles are constructed.
Further, wherein, the grid point coordinates based in the candidate point dictionary, virtual obstacles bag is constructed
Include：
Based on the grid point coordinates in the candidate point dictionary, inquiry collision frequency reaches the grid of collision frequency threshold value
Point；
Based on the grid point for reaching collision frequency threshold value, virtual line segment is added, to construct virtual obstacles.
According to further aspect of the application, there is provided a kind of equipment for controlling Mobile Robot Obstacle Avoidance, wherein, should
Equipment includes：
First device, for determining that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided；
Second device, for constructing virtual obstacles based on the current point of impingement and the history point of impingement, so that the movement
Robot avoids the invisible barrier of the laser.
Further, wherein, the second unit includes：
First subelement, for based on it is described it is current hit auxiliary segment, grid point and every is determined with default resolution ratio
The grid point coordinates of individual grid point；
Second subelement, for the grid point coordinates to be added into candidate point dictionary, wherein, wrapped in the candidate point dictionary
Include the grid point coordinates that auxiliary segment addition is hit based on the history；
3rd subelement, for based on the grid point coordinates in the candidate point dictionary, constructing virtual obstacles.
Further, wherein, the 3rd subelement is used for：
Based on the grid point coordinates in the candidate point dictionary, inquiry collision frequency reaches the grid of collision frequency threshold value
Point；
Based on the grid point for reaching collision frequency threshold value, virtual line segment is added, to construct virtual obstacles.
Compared with prior art, the application is by determining that the current point of impingement is invisible for the laser that mobile robot need to be avoided
Barrier, the current point of impingement and history point of impingement construction virtual obstacles are then based on, so that the mobile robot is avoided
The invisible barrier of laser.In this way, when mobile robot collides the invisible barrier of laser, can keep away
The invisible barrier of the laser is opened, so as to complete corresponding functional task, so that mobile robot completion is more rational
Global mission planning.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, of the invention is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows a kind of method flow diagram for Mobile Robot Obstacle Avoidance according to the application one side；
Fig. 2 shows to hit auxiliary segment addition signal according to a kind of mobile robot of one preferred embodiment of the application
Figure；
Fig. 3 shows a kind of mobile robot according to the application other side for the regular invisible barrier of laser of profile
Hinder the virtual obstacles schematic diagram of thing；
Fig. 4 shows a kind of mobile robot according to the application another preferred embodiment for the irregular laser of profile
The virtual obstacles schematic diagram of invisible barrier；
Fig. 5 shows a kind of equipment schematic diagram for Mobile Robot Obstacle Avoidance according to the application other side.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flashRAM).Internal memory is showing for computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or
Any other non-transmission medium, the information that can be accessed by a computing device available for storage.Defined according to herein, computer
Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It is below in conjunction with the accompanying drawings and preferably real for the technological means and the effect of acquirement that further elaboration the application is taken
Example is applied, to the technical scheme of the application, carries out clear and complete description.
Fig. 1 shows a kind of method for Mobile Robot Obstacle Avoidance according to the application one side, wherein, methods described
Including：
S1 determines that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided；
S2 is based on the current point of impingement and history point of impingement construction virtual obstacles, so that the mobile robot avoids institute
State the invisible barrier of laser.
In this embodiment, in the step S1, when mobile robot and the current point of impingement collide, first really
The fixed point of impingement is the invisible barrier of laser that mobile robot need to be avoided, it is preferable that wherein, the step S1 includes：
Current shock auxiliary segment of the S11 (not shown) based on the current point of impingement addition preset length；S12 (not shown) is based on institute
State current shock auxiliary segment and history hits auxiliary segment, construct virtual obstacles.
Specifically, in the step S11, when being collided with the current point of impingement, can be added based on the current point of impingement
Add the current shock auxiliary segment of preset length, this currently hits auxiliary segment and is used for auxiliary construction virtual obstacles.As Fig. 2 shows
Going out mobile robot and hit auxiliary segment addition schematic diagram, rum point 1 is the current rum point of mobile robot 1 as shown in the figure,
After rum point 1 is determined, is added with length hit auxiliary segment 1 at an angle, here, the length of auxiliary segment 1 can
To preset, generally the preset length can be set according to the size of mobile robot, for example, for circular moving machine
Device people can set the preset length according to radius information, can be with for the radius bigger mobile robot preset length
It is big a bit.Angle for hitting auxiliary segment 1, it could be arranged to rum point 1 and line determined by the mobile robot center of circle
The vertical direction of section, or predetermined angle direction at the beginning.
Continue in this embodiment,, all can be according to the shock for the rum point hit every time in the step S12
Point, which is set, hits auxiliary segment, therefore, has multiple history and hits auxiliary segment and currently hit auxiliary segment, according to this
Current auxiliary segment and multiple history hit auxiliary segment, virtual obstacles can be constructed, for example, can be by a plurality of shock
The curve or straight line that the intersection point of auxiliary segment is formed form the virtual obstacles.
Wherein, the step S12 includes：S121 (not shown) is based on the current shock auxiliary segment, is differentiated with default
Rate determines the grid point coordinates of grid point and each grid point；The grid point coordinates is added candidate point by S122 (not shown)
Dictionary, wherein, the candidate point dictionary includes the grid point coordinates that auxiliary segment addition is hit based on the history；S123
(not shown) constructs virtual obstacles based on the grid point coordinates in the candidate point dictionary.
In this embodiment, in the step S121, after current auxiliary segment is determined, with what is pre-set
Default resolution ratio, splits into multiple grid points, and determine the coordinate of each grid point by the shock auxiliary segment.
In the step S122, the coordinate of the multiple grid point is added into candidate point dictionary, here, the candidate point
The grid point coordinates of auxiliary segment addition is hit in dictionary based on the history, that is, history shock auxiliary segment also can be with same
The method of sample splits into multiple grid points, and corresponding grid point coordinates is added into the candidate point dictionary, therefore, the candidate point
Substantial amounts of grid point coordinates is stored in dictionary.
Further, in the step S123, based on the grid point coordinates in the candidate point dictionary, virtual barrier is constructed
Hinder thing.Specifically, satisfactory line segment can be extracted according to the multiple grid point coordinates, is relatively advised for example, can form
The grid point of virtual obstacles then extracts, virtual obstacles construct etc..
Preferably, wherein, the step S123 includes：Based on the grid point coordinates in the candidate point dictionary, inquiry is touched
Hit the grid point that number reaches collision frequency threshold value；Based on the grid point for reaching collision frequency threshold value, virtual line segment is added,
To construct virtual obstacles.
In this embodiment, by analyzing the grid point coordinates in the candidate point dictionary, find collision frequency and reach
The grid point of collision frequency threshold value, namely during the moveable robot movement, time of some possible grid point point of impingement
Number is more, can reach collision frequency threshold value, and therefore, the grid point that this can be reached to collision frequency threshold value selects, and
Reach the grid point of collision frequency threshold value according to this, add virtual line segment, to construct virtual obstacles.For example, it will can collide
The grid point of frequency threshold value is attached, and straight line may be formed for the invisible barrier of laser of profile rule, and for wheel
The wide irregular invisible barrier of laser may form curve, so as to construct different virtual obstacles.
If Fig. 3 is virtual obstacles schematic diagram of the mobile robot for the invisible barrier of laser of profile rule.
This, the invisible barrier of laser is B glass metopes, is such as schemed, A, C are blank wall face, and E is multiple rum points, because rum point is one
On bar straight line, therefore, D virtual glass metopes can be constructed, as virtual obstacles, wherein, D virtual glass metope is one
The straightway of rule.
If Fig. 4 is virtual obstacles schematic diagram of the mobile robot for the invisible barrier of the irregular laser of profile.
Wherein, H is broken edge barrier, and G is the rum point for meeting collision frequency threshold value, and the plurality of rum point is sequentially connected with into
Smooth curve, then I virtual glass metopes are formed, as virtual obstacles.
Compared with prior art, the application is by determining that the current point of impingement is invisible for the laser that mobile robot need to be avoided
Barrier, the current point of impingement and history point of impingement construction virtual obstacles are then based on, so that the mobile robot is avoided
The invisible barrier of laser.In this way, when mobile robot collides the invisible barrier of laser, can keep away
The invisible barrier of the laser is opened, so as to complete corresponding functional task, so that mobile robot completion is more rational
Global mission planning.
Fig. 5 shows a kind of equipment 1 for Mobile Robot Obstacle Avoidance according to the application other side, wherein, it is described
Equipment 1 includes：
First device, for determining that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided；
Second device, for constructing virtual obstacles based on the current point of impingement and the history point of impingement, so that the movement
Robot avoids the invisible barrier of the laser.
In this embodiment, when mobile robot and the current point of impingement collide, the first device determines first
The point of impingement is the invisible barrier of laser that mobile robot need to be avoided, it is preferable that wherein, the second device includes：
Current shock auxiliary segment of the first module (not shown) based on the current point of impingement addition preset length；Second unit is (not
Show) auxiliary segment is hit based on the current shock auxiliary segment and history, construct virtual obstacles.
Specifically, when being collided with the current point of impingement, it is pre- that the first module can be based on the addition of the current point of impingement
If the current shock auxiliary segment of length, this currently hits auxiliary segment and is used for auxiliary construction virtual obstacles.Move as shown in Figure 2
Mobile robot hits auxiliary segment addition schematic diagram, and rum point 1 is the current rum point of mobile robot 1 as shown in the figure, true
After having determined rum point 1, added with length hit auxiliary segment 1 at an angle, here, the length of auxiliary segment 1 can be
Preset, generally the preset length can be set according to the size of mobile robot, for example, for circular mobile robot
The preset length can be set according to radius information, the preset length can be big by one for radius bigger mobile robot
A little.Angle for hitting auxiliary segment 1, it could be arranged to rum point 1 and line segment determined by the mobile robot center of circle
Vertical direction, or predetermined angle direction at the beginning.
Continue in this embodiment, for the rum point hit every time, the second unit can all be set according to the rum point
Shock auxiliary segment is put, therefore, multiple history is had and hits auxiliary segment and currently hit auxiliary segment, it is current according to this
Auxiliary segment and multiple history hit auxiliary segment, can construct virtual obstacles, for example, can aid in a plurality of hit
The curve or straight line that the intersection point of line segment is formed form the virtual obstacles.
Wherein, the second unit includes：First subelement (not shown), for based on the current shock boost line
Section, to preset the grid point coordinates that resolution ratio determines grid point and each grid point；And the second subelement (not shown), use
In by the grid point coordinates add candidate point dictionary, wherein, the candidate point dictionary include based on the history shock it is auxiliary
The grid point coordinates of index contour section addition；And the 3rd subelement (not shown), for based on the grid in the candidate point dictionary
Point coordinates, construct virtual obstacles.
In this embodiment, after current auxiliary segment is determined, first subelement is pre- with what is pre-set
If resolution ratio, the shock auxiliary segment is split into multiple grid points, and determine the coordinate of each grid point.
Continuing in this embodiment, the coordinate of the multiple grid point is added candidate point dictionary by second subelement,
Here, the grid point coordinates of auxiliary segment addition is hit in the candidate point dictionary based on the history, that is, history shock is auxiliary
Index contour section can also split into multiple grid points in the same way, and corresponding grid point coordinates is added into the candidate point dictionary,
Therefore, substantial amounts of grid point coordinates is stored in the candidate point dictionary.
Further, the 3rd subelement constructs virtual obstacles based on the grid point coordinates in the candidate point dictionary
Thing.Specifically, satisfactory line segment can be extracted according to the multiple grid point coordinates, for example, can form relatively regular
The grid points of virtual obstacles extract, virtual obstacles construct etc..
Preferably, wherein, the 3rd subelement is used for：Based on the grid point coordinates in the candidate point dictionary, inquiry
Collision frequency reaches the grid point of collision frequency threshold value；Based on the grid point for reaching collision frequency threshold value, dummy line is added
Section, to construct virtual obstacles.
In this embodiment, by analyzing the grid point coordinates in the candidate point dictionary, find collision frequency and reach
The grid point of collision frequency threshold value, namely during the moveable robot movement, time of some possible grid point point of impingement
Number is more, can reach collision frequency threshold value, and therefore, the grid point that this can be reached to collision frequency threshold value selects, and
Reach the grid point of collision frequency threshold value according to this, add virtual line segment, to construct virtual obstacles.For example, it will can collide
The grid point of frequency threshold value is attached, and straight line may be formed for the invisible barrier of laser of profile rule, and for wheel
The wide irregular invisible barrier of laser may form curve, so as to construct different virtual obstacles.
If Fig. 3 is virtual obstacles schematic diagram of the mobile robot for the invisible barrier of laser of profile rule.
This, the invisible barrier of laser is B glass metopes, is such as schemed, A, C are blank wall face, and E is multiple rum points, because rum point is one
On bar straight line, therefore, D virtual glass metopes can be constructed, as virtual obstacles, wherein, D virtual glass metope is one
The straightway of rule.
If Fig. 4 is virtual obstacles schematic diagram of the mobile robot for the invisible barrier of the irregular laser of profile.
Wherein, H is broken edge barrier, and G is the rum point for meeting collision frequency threshold value, and the plurality of rum point is sequentially connected with into
Smooth curve, then I virtual glass metopes are formed, as virtual obstacles.
Compared with prior art, the application is by determining that the current point of impingement is invisible for the laser that mobile robot need to be avoided
Barrier, the current point of impingement and history point of impingement construction virtual obstacles are then based on, so that the mobile robot is avoided
The invisible barrier of laser.In this way, when mobile robot collides the invisible barrier of laser, can keep away
The invisible barrier of the laser is opened, so as to complete corresponding functional task, so that mobile robot completion is more rational
Global mission planning.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (8)
1. a kind of method for Mobile Robot Obstacle Avoidance, wherein, this method includes：
It is determined that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided；
Based on the current point of impingement and history point of impingement construction virtual obstacles, so that the mobile robot avoids the laser
Invisible barrier.
2. according to the method for claim 1, wherein, described constructed based on the current point of impingement and the history point of impingement is virtually hindered
Thing is hindered to include：
Current shock auxiliary segment based on the current point of impingement addition preset length；
Auxiliary segment is hit based on the current shock auxiliary segment and history, constructs virtual obstacles.
3. the method according to claim 11, wherein, it is described auxiliary based on the current shock auxiliary segment and history shock
Index contour section, construction virtual obstacles include：
Based on the current grid point seat for hitting auxiliary segment, grid point and each grid point being determined with default resolution ratio
Mark；
The grid point coordinates is added into candidate point dictionary, wherein, the candidate point dictionary includes hitting based on the history
The grid point coordinates of auxiliary segment addition；
Based on the grid point coordinates in the candidate point dictionary, virtual obstacles are constructed.
4. according to the method for claim 3, wherein, the grid point coordinates based in the candidate point dictionary, construct
Virtual obstacles include：
Based on the grid point coordinates in the candidate point dictionary, inquiry collision frequency reaches the grid point of collision frequency threshold value；
Based on the grid point for reaching collision frequency threshold value, virtual line segment is added, to construct virtual obstacles.
5. a kind of equipment for controlling Mobile Robot Obstacle Avoidance, wherein, the equipment includes：
First device, for determining that the current point of impingement is the invisible barrier of laser that mobile robot need to be avoided；
Second device, for constructing virtual obstacles based on the current point of impingement and the history point of impingement, so that the mobile machine
People avoids the invisible barrier of the laser.
6. equipment according to claim 5, wherein, the second device includes：
First module, for the current shock auxiliary segment based on the current point of impingement addition preset length；
Second unit, for hitting auxiliary segment based on the current shock auxiliary segment and history, construct virtual obstacles.
7. equipment according to claim 6, wherein, the second unit includes：
First subelement, for based on the current shock auxiliary segment, grid point and each grid to be determined with default resolution ratio
The grid point coordinates of lattice point；
Second subelement, for the grid point coordinates to be added into candidate point dictionary, wherein, the candidate point dictionary includes base
The grid point coordinates of auxiliary segment addition is hit in the history；
3rd subelement, for based on the grid point coordinates in the candidate point dictionary, constructing virtual obstacles.
8. equipment according to claim 7, wherein, the 3rd subelement is used for：
Based on the grid point coordinates in the candidate point dictionary, inquiry collision frequency reaches the grid point of collision frequency threshold value；
Based on the grid point for reaching collision frequency threshold value, virtual line segment is added, to construct virtual obstacles.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711006126.XA CN107807641B (en) | 2017-10-25 | 2017-10-25 | Method for Mobile Robot Obstacle Avoidance |
| PCT/CN2018/106798 WO2019080680A1 (en) | 2017-10-25 | 2018-09-20 | Obstacle-avoiding method for mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711006126.XA CN107807641B (en) | 2017-10-25 | 2017-10-25 | Method for Mobile Robot Obstacle Avoidance |
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| CN107807641B CN107807641B (en) | 2019-11-19 |
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| CN108873014A (en) * | 2018-06-28 | 2018-11-23 | 北方工业大学 | Mirror surface detection method and device based on laser radar |
| WO2019080680A1 (en) * | 2017-10-25 | 2019-05-02 | 上海思岚科技有限公司 | Obstacle-avoiding method for mobile robot |
| CN109947094A (en) * | 2019-01-31 | 2019-06-28 | 科沃斯机器人股份有限公司 | Mode of progression, from mobile device and storage medium |
| CN110543169A (en) * | 2019-08-16 | 2019-12-06 | 深圳优地科技有限公司 | robot obstacle avoidance method and device, robot and storage medium |
| CN111857126A (en) * | 2020-05-29 | 2020-10-30 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, robot and storage medium |
| CN111949017A (en) * | 2020-06-30 | 2020-11-17 | 珠海市一微半导体有限公司 | Robot obstacle-crossing edgewise path planning method, chip and robot |
| CN112534376A (en) * | 2018-09-27 | 2021-03-19 | 欧姆龙株式会社 | Control device |
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2017
- 2017-10-25 CN CN201711006126.XA patent/CN107807641B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019080680A1 (en) * | 2017-10-25 | 2019-05-02 | 上海思岚科技有限公司 | Obstacle-avoiding method for mobile robot |
| CN108873014A (en) * | 2018-06-28 | 2018-11-23 | 北方工业大学 | Mirror surface detection method and device based on laser radar |
| CN112534376B (en) * | 2018-09-27 | 2024-06-11 | 欧姆龙株式会社 | Control device |
| CN112534376A (en) * | 2018-09-27 | 2021-03-19 | 欧姆龙株式会社 | Control device |
| CN109947094A (en) * | 2019-01-31 | 2019-06-28 | 科沃斯机器人股份有限公司 | Mode of progression, from mobile device and storage medium |
| CN109947094B (en) * | 2019-01-31 | 2020-06-09 | 科沃斯机器人股份有限公司 | Travel method, self-moving device and storage medium |
| CN110543169A (en) * | 2019-08-16 | 2019-12-06 | 深圳优地科技有限公司 | robot obstacle avoidance method and device, robot and storage medium |
| CN110543169B (en) * | 2019-08-16 | 2022-05-24 | 深圳优地科技有限公司 | Robot obstacle avoidance method and device, robot and storage medium |
| WO2021238222A1 (en) * | 2020-05-29 | 2021-12-02 | 深圳市银星智能科技股份有限公司 | Obstacle avoidance method for robot, obstacle avoidance device for robot, robot, and storage medium |
| CN111857126A (en) * | 2020-05-29 | 2020-10-30 | 深圳市银星智能科技股份有限公司 | Robot obstacle avoidance method, robot and storage medium |
| CN111949017A (en) * | 2020-06-30 | 2020-11-17 | 珠海市一微半导体有限公司 | Robot obstacle-crossing edgewise path planning method, chip and robot |
| CN111949017B (en) * | 2020-06-30 | 2024-05-07 | 珠海一微半导体股份有限公司 | Robot obstacle crossing edge path planning method, chip and robot |
| CN112526985A (en) * | 2020-10-20 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Walking forbidden zone planning method and device and self-moving robot |
| CN112526985B (en) * | 2020-10-20 | 2023-04-28 | 深圳银星智能集团股份有限公司 | Walking forbidden zone planning method and device and self-moving robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019080680A1 (en) | 2019-05-02 |
| CN107807641B (en) | 2019-11-19 |
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